/* gm_sim_physics.h -- Física do simulador
 *  
 * Copyright (C) 2008, Gustavo Campos Martins <gcm.martins@gmail.com>
 * GEAR - Grupo de Estudos Avançados em Robótica
 * <http://www.sel.eesc.usp.br/gear>
 * 
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#ifndef __GM_SIM_PHYSICS_H__
#define __GM_SIM_PHYSICS_H__

#include "gm_sim.h"

void gm_sim_phys_init( void );
void gm_sim_phys_update( void );

/** GET **/
void gm_sim_phys_get_ballpos( float * ballpos );
void gm_sim_phys_get_ballvel( float * ballvel );
void gm_sim_phys_get_robotpos( float * robotpos, int i );
void gm_sim_phys_get_robotang( float * robotang, int i );

/** SET **/
void gm_sim_phys_set_ballpos( float * ballpos );
void gm_sim_phys_set_ballvel( float * ballvel );
void gm_sim_phys_set_robotpos( float * robotpos, int i );
void gm_sim_phys_set_robotvel( float * robotpos, int i );
void gm_sim_phys_set_robotw( float robotw, int i );
void gm_sim_phys_set_kick( int level, int i );
void gm_sim_phys_set_dribble( int level, int i );

#endif

